CN108290499A - Driver assistance system with adaptive ambient enviroment image data processing function - Google Patents

Driver assistance system with adaptive ambient enviroment image data processing function Download PDF

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Publication number
CN108290499A
CN108290499A CN201680068465.8A CN201680068465A CN108290499A CN 108290499 A CN108290499 A CN 108290499A CN 201680068465 A CN201680068465 A CN 201680068465A CN 108290499 A CN108290499 A CN 108290499A
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China
Prior art keywords
image
vehicle
target
region
driver assistance
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Granted
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CN201680068465.8A
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Chinese (zh)
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CN108290499B (en
Inventor
M·弗里贝
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Continental Zhixing Germany Co ltd
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Individual
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/29—Instruments characterised by the way in which information is handled, e.g. showing information on plural displays or prioritising information according to driving conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
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    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
    • G—PHYSICS
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    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
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    • B60K2360/1438—Touch screens
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    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
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    • B60K2360/178—Warnings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/18—Information management
    • B60K2360/191—Highlight information
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
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    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/307—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing virtually distinguishing relevant parts of a scene from the background of the scene
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
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    • B60W2050/0054—Cut-off filters, retarders, delaying means, dead zones, threshold values or cut-off frequency
    • B60W2050/0055—High-pass filters
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0052—Filtering, filters
    • B60W2050/0054—Cut-off filters, retarders, delaying means, dead zones, threshold values or cut-off frequency
    • B60W2050/0056—Low-pass filters
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

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  • Engineering & Computer Science (AREA)
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  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
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  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
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  • Data Mining & Analysis (AREA)
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  • General Engineering & Computer Science (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Evolutionary Biology (AREA)
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  • Life Sciences & Earth Sciences (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Artificial Intelligence (AREA)
  • Image Processing (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Traffic Control Systems (AREA)
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Abstract

The present invention relates to a kind of for showing the driver assistance system of ambient enviroment image and a kind of corresponding method.The image of multiple video camera shooting ambient enviroments, described image are synthesized into the ambient enviroment image of vehicle-periphery in data processing unit.Self-adaptive processing is carried out to affiliated image-region (area-of-interest, ROI) at least one target in ambient enviroment image, such as by emphasizing.

Description

Driver assistance system with adaptive ambient enviroment image data processing function
Technical field
The present invention relates to a kind of ambient enviroment images of vehicle-periphery used for vehicles to carry out image real time transfer Method and apparatus.
Background technology
Vehicle, especially road vehicle have more and more to be driven to what driver was supported when executing traveling and acting The person's of sailing auxiliary system.This kind of driver assistance system has the display device for the ambient enviroment image that its vehicle is shown to driver Or display.The mode that such a ambient enviroment image can for example be got a bird's eye view shows the aphorama of the ambient enviroment around vehicle Figure.In order to generate this ambient enviroment image, vehicle has the vehicle camera for providing camera review in the not homonymy of vehicle body. The camera review synthesizes the ambient enviroment image or panoramic view of vehicle-periphery by data processing unit.With Afterwards, the image synthesized by this is shown on the display unit of driver assistance system.
In many cases, in the vehicle-periphery of vehicle there are target or obstacle, such as building or other vehicles, It causes to be distorted in shown ambient enviroment image.This kind of distortion can for example cause vehicle driver to miss traffic situation Sentence, and thus when executing traveling action to impacting safely.
Invention content
Therefore, the purpose of the present invention is to, provide a kind of ambient enviroment image of vehicle-periphery used for vehicles into The driver assistance system and method for row image real time transfer, wherein significantly avoided in shown ambient enviroment image Or it eliminates and passes through image fault caused by target.
According to the present invention, the purpose is realized by the driver assistance system with feature described in claim 1.
Accordingly, the present invention provides a kind of driver assistance system for showing the ambient enviroment image of vehicle, described to drive The person's of sailing auxiliary system includes vehicle camera, and the vehicle camera generates the camera review of the vehicle-periphery of vehicle； And the driver assistance system includes data processing unit, and the data processing unit is taken the photograph what is generated by vehicle camera Camera image synthesizes the ambient enviroment image of vehicle-periphery, wherein is included in ambient enviroment image at least one Interior target carries out self-adaptive processing to affiliated image-region.
In the possible embodiment according to driver assistance system of the present invention, by synthesized environmental view As being shown on the display unit of driver assistance system with processed image-region.
In another possible embodiment according to driver assistance system of the present invention, belong to the image-region of target It is formed by polygon, the vertex of the polygon is the coordinate of the bidimensional of vehicle or the vehicle axis system of three-dimensional.
In another possible embodiment according to driver assistance system of the present invention, pass through the vehicle periphery of vehicle The environment data model of environment determines the image-region for belonging to target.
In another possible embodiment according to driver assistance system of the present invention, by driver assistance system User determines the image-region for belonging to target by user interface.
In another possible embodiment according to driver assistance system of the present invention, to belonging to the image district of target Domain is filtered.
Image-region to belonging to target can for example carry out high-pass filtering or low-pass filtering.
In another possible embodiment according to driver assistance system of the present invention, with prespecified texture pair The image-region for belonging to target is covered.
In another possible embodiment according to driver assistance system of the present invention, by means of the vehicle week of vehicle The height profile identification detected with sensor in collarette border is included in the target in ambient enviroment image.
In another possible embodiment according to driver assistance system of the present invention, pass through data processing unit pair Target in ambient enviroment image is classified, and by data processing unit according to the obtained classification pair of target The image-region for belonging to respective objects then carries out adapting to image processing.
In another possible embodiment according to driver assistance system of the present invention, pass through driver assistance system Data processing unit according to image-region to two dimension or three-dimensional vehicle coordinate system coordinate origin spacing to belonging to target Image-region carries out adapting to image processing.
In addition, the present invention also provides a kind of vehicle periphery rings used for vehicles with feature described in claim 11 The method that the ambient enviroment image in border carries out image real time transfer.
Accordingly, the present invention provides a kind of ambient enviroment image progress image data of vehicle-periphery used for vehicles The method of processing, this method comprises the following steps：The camera review generated by the vehicle camera of vehicle is synthesized into vehicle Vehicle-periphery ambient enviroment image；Also, belong in synthesis ambient enviroment image at least one The image-region of target executes adapting to image processing.
In the possible embodiment according to the method for the invention, by synthesized ambient enviroment image and different mesh Image-region of the target through self-adaptive processing is shown on the display unit.
In another possible embodiment according to the method for the invention, belong to the image-region of target by polygon shape At the vertex of the polygon is formed by the bidimensional of vehicle or the coordinate of three-dimensional vehicle coordinate system.
In another possible embodiment according to the method for the invention, pass through the environment of the vehicle-periphery of vehicle Data model determines the image-region for belonging to target.
In another possible embodiment according to the method for the invention, use is passed through by the user of driver assistance system Family interface determines the image-region for belonging to target.
In another possible embodiment according to the method for the invention, the image-region to belonging to target is filtered Wave especially carries out high-pass filtering or low-pass filtering.
In another possible embodiment according to the method for the invention, with prespecified affiliated texture to belonging to mesh Target image-region is covered.
In another possible embodiment according to the method for the invention, by means of the use of the vehicle-periphery of vehicle The height profile identification of sensor detection is included in the target in ambient enviroment image.
In another possible embodiment according to the method for the invention, first in ambient enviroment image Target is classified.
In another possible embodiment according to the method for the invention, according to the obtained classification of target to belonging to The image-region of target carries out adapting to image processing.
In another possible embodiment according to the method for the invention, according to image-region or said target to vehicle Bidimensional or three-dimensional vehicle coordinate system coordinate origin spacing to belong to target image-region carry out adapting to image processing.
Description of the drawings
In addition, will be to according to the method for the invention and according to driver assistance system of the present invention in conjunction with following attached drawing The possible embodiment of system is described further.Wherein：
Fig. 1 block diagrams, for describing the driver assistance system according to the present invention for showing ambient enviroment image Embodiment；
Fig. 2 explanatory views, for explaining that the ambient enviroment image of vehicle-periphery used for vehicles carries out image Data processing according to driver assistance system of the present invention and according to the operation principle of the method for the invention.
Fig. 3 simple flow charts, the embodiment for describing the method according to the present invention for image real time transfer.
Specific implementation mode
Fig. 1 shows a block diagram, for describing the driving according to the present invention for showing vehicle-periphery image The exemplary embodiment of member's auxiliary system 1.Driver assistance system 1 shown in Fig. 1 for example can be such as the schematic institute in top in Fig. 2 Show and is arranged in road vehicle.In the embodiment shown in fig. 1, the vehicle have multiple vehicle cameras or optical sensor 2-1, 2-2,2-3 and 2-4, they are installed in the not homonymy of the vehicle body of vehicle.Set vehicle camera quantity may be because of difference Vehicle and it is different.In a kind of possible embodiment, vehicle has four vehicles for being arranged on vehicle body not homonymy Video camera.Here, it is preferred that a vehicle camera is respectively set in every side of vehicle body, that is, the first vehicle camera 2-1 settings In vehicle body front side, the second vehicle camera 2-2 is arranged on the left of vehicle body, and third vehicle camera 2-3 is arranged on the right side of vehicle body, the Four vehicle camera 2-4 are arranged in vehicle body back side.Different vehicle video camera 2-i continuously provides the video camera figure of vehicle-periphery Picture, these camera reviews are transferred to the data processing list of driver assistance system 1 by signal wire 3-1,3-2,3-3,3-4 Member 4.In a possible embodiment, vehicle camera 2-i has data encoder, to make camera review to encode shape Formula is transferred to data processing unit 4 by signal wire 3-i.In a possible embodiment, there are one the tools of data processing unit 4 Or multiple processors for image real time transfer.Data processing unit 4 is received, derived from vehicle camera 2-i Camera review continuously synthesizes an ambient enviroment image of the vehicle-periphery of vehicle.Here, for being included in surrounding ring At least one of border image target carries out self-adaptive processing to affiliated image-region.Affiliated image-region ROI (region of interest Domain) pass through the progress adapting to image processing of data processing unit 4.By the week for the vehicle-periphery that data processing unit 4 synthesizes Ambient image is enclosed to be displayed on the display unit 5 of driver assistance system 1 with processed image-region contained therein.
The image-region ROI for belonging to target is preferably formed by a polygon with multiple vertex.For example, polygon Can be tool there are four vertex quadrangle or tool there are three vertex triangle.Wherein, the vertex of polygon is preferably by vehicle The coordinate of vehicle axis system formed.As schematically illustrated in Figure 2, the vehicle axis system preferably its coordinate origin KUP is in vehicle F Center.Fig. 2 shows the two-dimentional vehicle axis systems with the first vehicle coordinate x and the second vehicle coordinate y.It is preferably replaced one In generation selection embodiment, the vehicle axis system of vehicle F may also comprise the three-dimensional vehicle coordinate having there are three vehicle coordinate x, y, z System.
In the possible embodiment according to driver assistance system 1 of the present invention, belong to the image-region of target ROI is determined by the environment data model of the vehicle-periphery of vehicle.For example, the environment data model passes through environmental data mould Type generator 6 generates.For this purpose, environment data model generator 6 is connected at least one environmental data sensor 7, such as ultrasound On wave sensor.These sensors provide the data in terms of the height profile of the vehicle-periphery of vehicle.For example, conduct Target or vehicle obstacle identification kerbstone or building and acquire target relative to reference level, such as road level surface with The height that approach sensor acquires.Environment data model generator 6 generates an environmental data by the sensing data received Model, wherein data processing unit 4 identifies the mesh in synthesized ambient enviroment image according to generated environment data model Mark, and determine or calculate the image-region for belonging to identified target in ambient enviroment image.
Alternatively, the image-region for belonging to target can be auxiliary by driver by the user of driver assistance system 1 The user interface 8 of auxiliary system 1 determines or selection.In a possible embodiment, driver assistance system 1 has for showing Through synthesizing the touch-screen display 5 of processed ambient enviroment image, including one be integrated in for selecting surrounding ring The user interface of image-region ROI in the image of border.
In the possible embodiment according to driver assistance system 1 of the present invention, to belonging to the image district of target Domain ROI is filtered automatically, such as carries out high-pass filtering or low-pass filtering.To the week through synthesis in identified image-region The image data filtering for enclosing ambient image is carried out according to adapting to image Processing Algorithm by data processing unit 4.
In an embodiment alternatively, it is also possible to which prespecified Texture mapping belongs to the image district of target Domain.In a possible embodiment, user can configure or be selected from one group of prespecified texture corresponding texture.
In the alternatively possible embodiment according to driver assistance system 1 of the present invention, to being included in surrounding ring Target, such as building or trees in the image of border are classified, then according to obtained target category to belonging to target Image-region carries out adapting to image processing.In another possible embodiment according to driver assistance system 1 of the present invention In, by data processing unit 4 according to the spacing of the vehicle axis system coordinate origin KUP in respective image region to corresponding vehicle F Image-region ROI to belonging to target carries out adapting to image processing.For example, to the image-region far from coordinate origin KOP ROI, using the image data processing algorithm different from the image-region ROI closer to vehicle axis system coordinate origin KUP.
Fig. 2 is used to explain for the ambient enviroment image progress image real time transfer to vehicle-periphery according to this hair The bright driver assistance system 1 and the operation principle according to the method for the invention.It is diagrammatically illustrated with basis in Fig. 2 The vehicle F of driver assistance system 1 of the present invention.At the center of vehicle F, such as road vehicle, there are a two dimension or three Tie up the coordinate origin KUP of vehicle axis system.In the illustrated example shown in fig. 2, there are different mesh in the vehicle-periphery of vehicle F Mark OBJ1, OBJ2, OBJ3, OBJ4.Target OBJ1 is, for example, the building in the vehicle-periphery of vehicle F.Target OBJ2 It is in the trees of the left fronts vehicle F in this way.In addition, also showing the mobile target OBJ3 of pedestrian's form in fig. 2.Most Afterwards, the 4th target OBJ4 is shown in FIG. 2, this is triangle obstacle, such as isolating device or the like.To different target One of arbitrary image-region ROI1, ROI2, ROI3, the ROI4 all determined belonging to one of OBJ1, OBJ2, OBJ3, OBJ4.Affiliated figure As region acquire or the environment data model generated based on vehicle-periphery carries out automatically, or it is auxiliary by driver The user of auxiliary system 1 is carried out manually by the input of user interface 8.In another possible embodiment, affiliated image-region portion Divide ground determining based on environment data model and is partly inputted by user interface 8 by user.In vehicle-periphery Target may include fixed target, such as building, trees or isolating device, but may also comprise movable target, such as vehicle F Vehicle-periphery in pedestrian or other vehicles.Affiliated image-region ROI can surround related objective, such as image-region ROI2, ROI3 and ROI4, or related objective also can be only partly covered, such as image-region ROI1.According to institute of the present invention In the preferred embodiment for stating driver assistance system 1, affiliated image-region ROI is by the polygon shape with multiple angles or vertex At the angle or the coordinate that vertex is two dimension or three-dimensional vehicle coordinate system.The image-region of polygon is for example polygon including two dimension Two, three, four or multiple vertex of shape or planar polygons body.In a possible preferred embodiment, by corresponding mesh The vertex quantity or shape of mark export polygon or polygonal body.In a possible embodiment, in ambient enviroment image Included target OBJ classifies.For example, in the example shown, target OBJ2 is classified as trees.In addition, for example by target OBJ1 is classified as entity building.In a possible embodiment, it can be exported according to the obtained classification of target OBJ affiliated The shape of image-region.For example, if target OBJ4 is classified as triangle isolator, the affiliated image district of triangle is acquired Domain ROI4.For image real time transfer according to driver assistance system 1 of the present invention and according to the method for the invention Another preferred embodiment in, also according to obtained target OBJ classifications by data processing unit 4 to belonging to target OBJ Image-region ROI carry out adapting to image processing.For example, to the image-region for the target trees (target OBJ2) classified The first image data processing algorithm can be used in ROI2, and the image-region ROI3 of the target OBJ3 (pedestrian) to being classified is using another A kind of image data processing algorithm.For example, the image-region ROI2 of target OBJ2 (trees) can be carried out by data processing unit 4 High-pass filtering, and the target OBJ3 (pedestrian) to be classified is low pass filtering.In addition, for example, being classified as the target of building OBJ1 can be used affiliated building texture to be covered, for example, drawing red shade etc..Different texture can distribute to different targets Type or target category.For example, in a possible embodiment, the data processing unit 4 of driver assistance system 1 accesses configuration Data storage is assigned with different texture pattern or grain surface in the configuration data memory to different target type. In another possible embodiment, the user of driver assistance system 1 can be directed to different target by user interface 8 and carry out texture The configuration suitable for the different target of pattern and/or image-region algorithm.
For image real time transfer according to driver assistance system 1 of the present invention and according to the method for the invention Another possible embodiment in, according to respective image region to the spacing of vehicle axis system coordinate origin KUP, to belonging to target The image-region ROI of OBJ carries out adapting to image processing.For example, by being used closer to the image-region ROI4 of coordinate origin KUP It is disposed from apart from the first different image data processing algorithms of the slightly remote image-region ROI1 of target OBJ1 (building). In a possible embodiment, a target, such as target OBJ3 (pedestrian) can be moved in the coordinate system of vehicle, wherein phase Answer target OBJ close to the coordinate origin KUP of vehicle axis system or coordinate origin KUP far from vehicle axis system. In a possible embodiment according to the method for the invention and according to driver assistance system 1 of the present invention, calculating belongs to Spacing between the central point M and coordinate origin KUP of the image-region ROI of movable target or distance D.Then preferably according to institute The space D of calculating carries out the image real time transfer for the image data being included in affiliated image-region ROI4.If in the traveling phase Between vehicle F moved relative to fixed target, such as building, then can Continuous plus to respective image region central point M this Class space D, to be switched between different images Processing Algorithm according to the calculated space D of institute.The vehicle camera 2- of vehicle F The stream of camera review or picture frame is supplied to the data processing unit 4 of driver assistance system 1 by i.It may embodiment party one In formula, the affiliated image-region ROI of a target OBJ images the data processing unit 4 of driver assistance system 1 from vehicle Each new image frame in picture frame sequence that machine 2-i is obtained all changes.
Vehicle F with driver assistance system 1 can be the road vehicle in road traffic.In addition, in industry manufacture Movable vehicle also equipped with this kind of driver assistance system 1.There are more application possibilities in medical field.By video camera Image data that image provides or camera review synthesize an ambient enviroment image through synthesis, such as with so-called splicing 360 degree of panoramas, wherein camera review is preferably projected in the perspective plane for display, especially two-dimentional bottom surface or three-dimensional plate On shape perspective plane.It is preferred that according in vehicle coordinate origin to vehicle-periphery said target or obstacle it is obtained away from From practicing image data processing algorithm, such as high-pass filtering or low-pass filtering in different images region.
It is a simple flow chart shown in Fig. 3, for describing the environmental view for the vehicle-periphery to vehicle F The embodiment according to the method for the invention as carrying out image real time transfer.
In first step S1, the vehicle of vehicle will be synthesized derived from the camera review of the different vehicle video camera of vehicle The ambient enviroment image of ambient enviroment.Then, in step s 2, belong to included in synthesis ambient enviroment image at least one The image-region of interior target carries out adapting to image data processing.Method shown in Fig. 3 is for example by driver assistance system 1 The processor of image data processing unit 4 is implemented.

Claims (17)

1. a kind of driver assistance system (1), the ambient enviroment image for showing vehicle, the driver assistance system include
Vehicle camera (2), the vehicle camera generate the camera review of the vehicle-periphery of vehicle (F)；And include
Data processing unit (4), the data processing unit synthesize the camera review generated by vehicle camera (2) The ambient enviroment image of vehicle-periphery, wherein at least one target in ambient enviroment image to affiliated Image-region (ROI) carries out self-adaptive processing.
2. driver assistance system according to claim 1, wherein by synthesized ambient enviroment image with it is processed Image-region is shown on the display unit (5) of driver assistance system (1).
3. driver assistance system according to claim 1 or 2, wherein belong to the image-region (ROI) of target by polygon Shape is formed, and the vertex of the polygon is the coordinate of the vehicle axis system of vehicle (F).
4. the driver assistance system according to any claim in the claims 1 to 3, wherein pass through vehicle The environment data model of vehicle-periphery determines the image-region (ROI) for belonging to target.
5. the driver assistance system according to any claim in the claims 1 to 3, wherein auxiliary by driver The user of auxiliary system (1) determines the image-region (ROI) for belonging to target by user interface.
6. the driver assistance system according to any claim in the claims 1 to 5, wherein to belonging to target Image-region (ROI) be filtered, especially carry out high-pass filtering or low-pass filtering.
7. the driver assistance system according to any claim in the claims 1 to 5, wherein with prespecified Affiliated texture the image-region (ROI) for belonging to target is covered.
8. the driver assistance system according to any claim in the claims 1 to 7, wherein by means of vehicle (F) the height profile identification of vehicle-periphery detected with sensor is included in the target in ambient enviroment image.
9. the driver assistance system according to any claim in the claims 1 to 8, wherein to being included in week The target enclosed in ambient image is classified, and by data processing unit (4) according to the classification of target to belonging to the figure of target As region carries out adapting to image processing.
10. the driver assistance system according to any claim in the claims 1 to 9, wherein at data Reason unit (4) is according to the spacing of image-region and/or target to the coordinate origin (KUP) of vehicle axis system to belonging to the figure of target As region carries out adapting to image processing.
11. the method that a kind of ambient enviroment image of vehicle-periphery used for vehicles carries out image real time transfer, including Following steps：
(a) camera review generated by the vehicle camera of vehicle is synthesized around the vehicle-periphery that (S1) is vehicle Ambient image；And
(b) (S2) is executed for the image-region (ROI) of at least one target belonged in synthesis ambient enviroment image Adapting to image processing.
12. according to the method for claim 11, wherein the image-region for belonging to target is formed by polygon, described polygon The vertex of shape is formed by the coordinate of the vehicle axis system of vehicle.
13. method according to claim 11 or 12, wherein pass through the environment data model of the vehicle-periphery of vehicle Or the image-region for belonging to target is determined by user interface by the user of driver assistance system.
14. the method according to any claim in the claims 11 to 12, wherein to belonging to the image district of target Domain is filtered, and especially carries out high-pass filtering or low-pass filtering, or with prespecified affiliated texture to belonging to the figure of target As region is covered.
15. the method according to any claim in the claims 11 to 14, wherein by means of the vehicle week of vehicle The height profile identification detected with sensor in collarette border is included in the target in ambient enviroment image.
16. the method according to any claim in the claims 11 to 15, wherein to being included in environmental view Target as in is classified, and carries out adapting to image processing to the image-region for belonging to target according to the classification of target.
17. the method according to any claim in the claims 11 to 16, wherein according to image-region or target Spacing to the coordinate origin of the vehicle axis system of vehicle carries out adapting to image processing to the image-region for belonging to target.
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